Related papers: Cutting the Cord: System Architecture for Low-Cost…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
Controller tuning and parameter optimization are crucial in system design to improve closed-loop system performance. Bayesian optimization has been established as an efficient model-free controller tuning and adaptation method. However,…
Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…
The Michigan Robotics MBot is a low-cost mobile robot platform that has been used to train over 1,400 students in autonomous navigation since 2014 at the University of Michigan and our collaborating colleges. The MBot platform was designed…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…
Robot-assisted therapy can deliver high-dose, task-specific training after neurologic injury, but most systems act primarily at the limb level-engaging the impaired neural circuits only indirectly-which remains a key barrier to truly…
Mobile edge computing (MEC) is considered as an efficient method to relieve the computation burden of mobile devices. In order to reduce the energy consumption and time delay of mobile devices (MDs) in MEC, multiple users multiple input and…
Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation provides physically grounded data but is prohibitively…
Affordable desktop CNC routers are common in education, prototyping, and makerspaces, but most lack a rotary axis, limiting fabrication of rotationally symmetric or multi-sided parts. Existing solutions often require hardware retrofits,…
Learning-based robotics research driven by data demands a new approach to robot hardware design-one that serves as both a platform for policy execution and a tool for embodied data collection to train policies. We introduce ToddlerBot, a…
To perform versatile mobile manipulation tasks in human-centered environments, the ability to efficiently transfer learned tasks and experiences from one robot to another or across different environments is key. In this paper, we present…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often…
Locomotive robots that do not rely on electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually involve complicated and tedious fabrication processes, limiting…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
With the rising concern over transportation emissions and pollution on a global scale, shared electric mobility services like E-cars, E-bikes, and E-scooters have emerged as promising solutions to mitigate these pressing challenges.…
To increase the awareness and impact, soft robotics needs to go beyond the lab environment and should be readily accessible to those even with no robotic expertise. However, most prevailing manufacturing methodologies require either…
When designing a power or CPU constrained device where a four-axis robotic arm is required and access to the Robot Operating System (ROS) is not an option, finding an efficient state space controller for a four-axis arm can be an obstacle.…